Three-finger multi-degree-of-freedom dexterous hand mechanism

Abstract

The invention relates to a three-finger multi-degree-of-freedom parallel dexterous hand mechanism. The mechanism comprises a palm base and three identical fingers, namely a first finger, a second finger and a third finger. A first branch chain assembly, a second branch chain assembly, a third branch chain assembly and a finger base are connected to form the dexterous hand fingers, and the three identical fingers and the palm base are distributed and connected according to a certain position. Complete drive in a motor form (omitted in the figure) is adopted, the drive is mounted on a base or a kinematic pair close to the base, and a flexible spherical fingertip at the tail end of a finger serves as an actual end effector. When all the driving pairs move, the flexible spherical fingertips at the tail ends are driven to do two-translation and one-rotation three-degree-of-freedom movement, two-translation and three-rotation five-degree-of-freedom movement can be achieved when the three fingers jointly act on an object, and the movement requirement for flexibly grabbing and operating the object can be met. The dexterous hand is simple in structure and capable of bending forwards and backwards, the working space performance is remarkably improved, and the dexterous hand has the advantages of being large in bearing capacity, high in motion precision and the like.

Description

technical field [0001] The invention relates to the technical field of parallel robots and dexterous hands, and relates to a grasping mechanism for a three-finger multi-degree-of-freedom parallel robot dexterous hand with three degrees of freedom for a single finger. Background technique [0002] In recent years, with the rapid development of robot technology, traditional end effectors can no longer meet the requirements of multi-task operation objectives, and multi-joint multi-degree-of-freedom robot dexterous hands have become one of the hotspots in the field of robotics research. Multi-fingered dexterous hands have strong self-adaptability, but the use of a large number of series joints will lead to complex structure, difficult control, poor load capacity and low reliability. However, the parallel mechanism has the advantages of high speed, high precision, and high load capacity, which can form a good complement to the dexterous hand and expand the application field of th...

AI Technical Summary

Problems solved by technology

[0002]In recent years, with the rapid development of robot technology, traditional end effectors can no longer meet the requirements of multi-task operation objectives. Become one of the hot spots in the field of robotics research

The multi-fingered dexterous hand has strong self-adaptive ability, but the use of a large number of series joints will lead to complex structure, difficult control, poor load capacity and low reliability

Images